feat: new firmware

grbl/config.h

@@ -29,6 +29,13 @@
 #define config_h
 #include "grbl.h" // For Arduino IDE compatibility.
 
+enum MachineType {
+  RCMINI,
+  BAMBOO
+}
+
+#define MACHINE_TYPE MachineType::BAMBOO
+
 
 // Define CPU pin map and default settings.
 // NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only

grbl/grbl.h

@@ -22,7 +22,7 @@
 #define grbl_h
 
 // Grbl versioning system
-#define GRBL_VERSION "1.1h"
+#define GRBL_VERSION "1.2h"
 #define GRBL_VERSION_BUILD "20190830"
 
 // Define standard libraries used by Grbl.
@@ -60,6 +60,8 @@
 #include "spindle_control.h"
 #include "stepper.h"
 #include "jog.h"
+#include "vcm.h"
+#include "spi.h"
 
 // ---------------------------------------------------------------------------------------
 // COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:

grbl/limits.c

@@ -95,6 +95,20 @@ uint8_t limits_get_state()
 }
 
 
+uint8_t pinch_roller_get_state()
+{
+  if (MACHINE_TYPE === MachineType::BAMBOO) 
+  {
+    // Check PC3 state
+    if (PINC & (1 << PINC3)) 
+    {
+      return 1;
+    }
+  }
+
+  return 0;
+}
+
 // This is the Limit Pin Change Interrupt, which handles the hard limit feature. A bouncing
 // limit switch can cause a lot of problems, like false readings and multiple interrupt calls.
 // If a switch is triggered at all, something bad has happened and treat it as such, regardless

grbl/limits.h

@@ -32,6 +32,8 @@ void limits_disable();
 // Returns limit state as a bit-wise uint8 variable.
 uint8_t limits_get_state();
 
+uint8_t pinch_roller_get_state();
+
 // Perform one portion of the homing cycle based on the input settings.
 void limits_go_home(uint8_t cycle_mask);
 

grbl/main.c

@@ -91,6 +91,8 @@ int main(void)
     coolant_init();
     limits_init();
     probe_init();
+    vcm_init();
+    motor_spi_init();
     plan_reset(); // Clear block buffer and planner variables
     st_reset(); // Clear stepper subsystem variables.
 

grbl/report.c

@@ -369,7 +369,7 @@ void report_execute_startup_message(char *line, uint8_t status_code)
 // Prints build info line
 void report_build_info(char *line)
 {
-  printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
+  printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":" MACHINE_TYPE ":" ));
   printString(line);
   report_util_feedback_line_feed();
   printPgmString(PSTR("[OPT:")); // Generate compile-time build option list
@@ -568,7 +568,8 @@ void report_realtime_status()
     uint8_t lim_pin_state = limits_get_state();
     uint8_t ctrl_pin_state = system_control_get_state();
     uint8_t prb_pin_state = probe_get_state();
-    if (lim_pin_state | ctrl_pin_state | prb_pin_state) {
+    uint8_t pinch_roller_state = pinch_roller_get_state();
+    if ((lim_pin_state | ctrl_pin_state | prb_pin_state) || pinch_roller_state) {
       printPgmString(PSTR("|Pn:"));
       if (prb_pin_state) { serial_write('P'); }
       if (lim_pin_state) {
@@ -586,6 +587,7 @@ void report_realtime_status()
           if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
           if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
           if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
+          if (pinch_roller_state) { serial_write('R'); }
         #endif
       }
       if (ctrl_pin_state) {

grbl/spi.c

@@ -0,0 +1,56 @@
+#include "grbl.h"
+
+#define CS1_PORT PORTC  // Chip Select for Driver 1
+#define CS1_PIN  PC0
+
+#define CS2_PORT PORTC  // Chip Select for Driver 2
+#define CS2_PIN  PC1
+
+#define SPI_DDR DDRB
+#define SPI_PORT PORTB
+#define MOSI PB3
+#define MISO PB4
+#define SCK PB5
+
+void spi_init() {
+    SPI_DDR |= (1 << MOSI) | (1 << SCK);  // Set MOSI and SCK as output
+    SPI_DDR &= ~(1 << MISO);             // Set MISO as input
+    SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR0); // Enable SPI, Master, Fclk/16
+}
+
+void spi_write(uint8_t cs_port, uint8_t cs_pin, uint8_t address, uint8_t data) {
+    // Pull CS low to select device
+    cs_port &= ~(1 << cs_pin);
+    _delay_us(1);  // Short delay for setup
+
+    // Send address
+    SPDR = address;
+    while (!(SPSR & (1 << SPIF)));  // Wait for transmission to complete
+
+    // Send data
+    SPDR = data;
+    while (!(SPSR & (1 << SPIF)));  // Wait for transmission to complete
+
+    // Pull CS high to deselect device
+    cs_port |= (1 << cs_pin);
+    _delay_us(1);  // Short delay for setup
+}
+
+/**
+ *  CTRL1 Control Register (address = 0x04) [Default = 0Fh]
+ *  BIT = 2-0
+ *  SETTING = DECAY MODE
+ *  111b = Smart tune Ripple Control
+ */
+void motor_spi_init() {
+    // Configure Chip Select pins as outputs
+    DDRC |= (1 << CS1_PIN) | (1 << CS2_PIN);
+    CS1_PORT |= (1 << CS1_PIN);  // Set CS high (deselect)
+    CS2_PORT |= (1 << CS2_PIN);  // Set CS high (deselect)
+
+    // Send configuration to Driver 1
+    spi_write(CS1_PORT, CS1_PIN, 0x04, 0x07);
+
+    // Send configuration to Driver 2
+    spi_write(CS2_PORT, CS2_PIN, 0x04, 0x07);
+}

grbl/spi.h

@@ -0,0 +1,2 @@
+
+void motor_spi_init();

grbl/vcm.c

@@ -0,0 +1,11 @@
+#include "grbl.h"
+
+void vcm_init()
+{
+    if (MACHINE_TYPE === MachineType::BAMBOO) 
+    {
+        DDRD |= (1 << DDD7);
+        // Set pin 7 to HIGH
+        PORTD |= (1 << PORTD7);
+    }
+}

grbl/vcm.h

@@ -0,0 +1,2 @@
+
+void vcm_init();